OpenRaiser/Intern-Atlas huggingface dataset:
Transflower: probabilistic autoregressive dance generation with multimodal attention
Venue: arXiv cs.SD 2022
Year: 2022

Dance requires skillful composition of complex movements that follow rhythmic, tonal and timbral features of music. Formally, generating dance conditioned on a piece of music can be expressed as a problem of modelling a high-dimensional continuous motion signal, conditioned on an audio signal. In this work we make two contributions to tackle this problem. First, we present a novel probabilistic autoregressive architecture that models the distribution over future poses with a normalizing flow conditioned on previous poses as well as music context, using a multimodal transformer encoder. Second, we introduce the currently largest 3D dance-motion dataset, obtained with a variety of motion-capture technologies, and including both professional and casual dancers. Using this dataset, we compare our new model against two baselines, via objective metrics and a user study, and show that both the ability to model a probability distribution, as well as being able to attend over a large motion and music context are necessary to produce interesting, diverse, and realistic dance that matches the music.
Core Challenges in Embodied Vision-Language Planning
Venue: arXiv cs.LG 2022
Year: 2022

Recent advances in the areas of multimodal machine learning and artificial intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Embodied AI. Whereas many approaches and previous survey pursuits have characterised one or two of these dimensions, there has not been a holistic analysis at the center of all three. Moreover, even when combinations of these topics are considered, more focus is placed on describing, e.g., current architectural methods, as opposed to also illustrating high-level challenges and opportunities for the field. In this survey paper, we discuss Embodied Vision-Language Planning (EVLP) tasks, a family of prominent embodied navigation and manipulation problems that jointly use computer vision and natural language. We propose a taxonomy to unify these tasks and provide an in-depth analysis and comparison of the new and current algorithmic approaches, metrics, simulated environments, as well as the datasets used for EVLP tasks. Finally, we present the core challenges that we believe new EVLP works should seek to address, and we advocate for task construction that enables model generalizability and furthers real-world deployment.
Optimization of a Moving Sensor Trajectory for Observing a Point Scalar Source in Turbulent Flow
Venue: arXiv cs.CE 2022
Year: 2022

We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of measurement to a possible source. A cost functional is constructed so that the optimal sensor trajectory maintains a high sensitivity and low temporal variation in the measured signal, for a given source location. This naturally leads to the adjoint-of-adjoint equation based on which the sensor trajectory is iteratively optimized. It is shown that the estimation performance based on the measurement obtained by a sensor moving along the optimal trajectory is drastically improved from that achieved with a stationary sensor. It is also shown that the ratio of the fluctuation and the mean of the sensitivity for a given sensor trajectory can be used as a diagnostic tool to evaluate the resultant performance. Based on this finding, we propose a new cost functional which only includes the ratio without any adjustable parameters, and demonstrate its effectiveness in predicting the time dependence of scalar release from the source.
Identifying High Accuracy Regions in Traffic Camera Images to Enhance the Estimation of Road Traffic Metrics: A Quadtree-Based Method
Venue: arXiv cs.CV 2022
Year: 2022

The growing number of real-time camera feeds in urban areas has made it possible to provide high-quality traffic data for effective transportation planning, operations, and management. However, deriving reliable traffic metrics from these camera feeds has been a challenge due to the limitations of current vehicle detection techniques, as well as the various camera conditions such as height and resolution. In this work, a quadtree based algorithm is developed to continuously partition the image extent until only regions with high detection accuracy are remained. These regions are referred to as the high-accuracy identification regions (HAIR) in this paper. We demonstrate how the use of the HAIR can improve the accuracy of traffic density estimates using images from traffic cameras at different heights and resolutions in Central Ohio. Our experiments show that the proposed algorithm can be used to derive robust HAIR where vehicle detection accuracy is 41 percent higher than that in the original image extent. The use of the HAIR also significantly improves the traffic density estimation with an overall decrease of 49 percent in root mean squared error.
Concentration of Contractive Stochastic Approximation and Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

Using a martingale concentration inequality, concentration bounds `from time $n_0$ on' are derived for stochastic approximation algorithms with contractive maps and both martingale difference and Markov noises. These are applied to reinforcement learning algorithms, in particular to asynchronous Q-learning and TD(0).
Draw Me a Flower: Processing and Grounding Abstraction in Natural Language
Venue: arXiv cs.CL 2022
Year: 2022

Abstraction is a core tenet of human cognition and communication. When composing natural language instructions, humans naturally evoke abstraction to convey complex procedures in an efficient and concise way. Yet, interpreting and grounding abstraction expressed in NL has not yet been systematically studied in NLP, with no accepted benchmarks specifically eliciting abstraction in NL. In this work, we set the foundation for a systematic study of processing and grounding abstraction in NLP. First, we deliver a novel abstraction elicitation method and present Hexagons, a 2D instruction-following game. Using Hexagons we collected over 4k naturally-occurring visually-grounded instructions rich with diverse types of abstractions. From these data, we derive an instruction-to-execution task and assess different types of neural models. Our results show that contemporary models and modeling practices are substantially inferior to human performance, and that models' performance is inversely correlated with the level of abstraction, showing less satisfying performance on higher levels of abstraction. These findings are consistent across models and setups, confirming that abstraction is a challenging phenomenon deserving further attention and study in NLP/AI research.
Deep Learning Image Recognition for Non-images
Venue: arXiv cs.LG 2022
Year: 2022

Powerful deep learning algorithms open an opportunity for solving non-image Machine Learning (ML) problems by transforming these problems to into the image recognition problems. The CPC-R algorithm presented in this chapter converts non-image data into images by visualizing non-image data. Then deep learning CNN algorithms solve the learning problems on these images. The design of the CPC-R algorithm allows preserving all high-dimensional information in 2-D images. The use of pair values mapping instead of single value mapping used in the alternative approaches allows encoding each n-D point with 2 times fewer visual elements. The attributes of an n-D point are divided into pairs of its values and each pair is visualized as 2-D points in the same 2-D Cartesian coordinates. Next, grey scale or color intensity values are assigned to each pair to encode the order of pairs. This is resulted in the heatmap image. The computational experiments with CPC-R are conducted for different CNN architectures, and methods to optimize the CPC-R images showing that the combined CPC-R and deep learning CNN algorithms are able to solve non-image ML problems reaching high accuracy on the benchmark datasets. This chapter expands our prior work by adding more experiments to test accuracy of classification, exploring saliency and informativeness of discovered features to test their interpretability, and generalizing the approach.
Joint Channel Estimation and Signal Recovery for RIS-Empowered Multi-User Communications
Venue: arXiv cs.IT 2022
Year: 2022

Reconfigurable intelligent surfaces (RISs) have been recently considered as a promising candidate for energy-efficient solutions in future wireless networks. Their dynamic and lowpower configuration enables coverage extension, massive connectivity, and low-latency communications. Due to a large number of unknown variables referring to the RIS unit elements and the transmitted signals, channel estimation and signal recovery in RIS-based systems are the ones of the most critical technical challenges. To address this problem, we focus on the RIS-assisted wireless communication system and present two joint channel estimation and signal recovery schemes based on message passing algorithms in this paper. Specifically, the proposed bidirectional scheme applies the Taylor series expansion and Gaussian approximation to simplify the sum-product procedure in the formulated problem. In addition, the inner iteration that adopts two variants of approximate message passing algorithms is incorporated to ensure robustness and convergence. Two ambiguities removal methods are also discussed in this paper. Our simulation results show that the proposed schemes show the superiority over the state-of-art benchmark method. We also provide insights on the impact of different RIS parameter settings on the proposed schemes.
The degree of a finite set of words
Venue: arXiv cs.FL 2022
Year: 2022

We prove several results concerning finitely generated submonoids of the free monoid. These results generalize those known for free submonoids. We prove in particular that if $X=Y\circ Z$ is a composition of finite sets of words with $Y$ complete, then $d(X)\le d(Y)d(Z)$.
Contrastive Counterfactual Visual Explanations With Overdetermination
Venue: arXiv cs.CV 2022
Year: 2022

A novel explainable AI method called CLEAR Image is introduced in this paper. CLEAR Image is based on the view that a satisfactory explanation should be contrastive, counterfactual and measurable. CLEAR Image explains an image's classification probability by contrasting the image with a corresponding image generated automatically via adversarial learning. This enables both salient segmentation and perturbations that faithfully determine each segment's importance. CLEAR Image was successfully applied to a medical imaging case study where it outperformed methods such as Grad-CAM and LIME by an average of 27% using a novel pointing game metric. CLEAR Image excels in identifying cases of "causal overdetermination" where there are multiple patches in an image, any one of which is sufficient by itself to cause the classification probability to be close to one.
Communication Analysis through Visual Analytics: Current Practices, Challenges, and New Frontiers
Venue: arXiv cs.HC 2022
Year: 2022

The automated analysis of digital human communication data often focuses on specific aspects such as content or network structure in isolation. This can provide limited perspectives while making cross-methodological analyses, occurring in domains like investigative journalism, difficult. Communication research in psychology and the digital humanities instead stresses the importance of a holistic approach to overcome these limiting factors. In this work, we conduct an extensive survey on the properties of over forty semi-automated communication analysis systems and investigate how they cover concepts described in theoretical communication research. From these investigations, we derive a design space and contribute a conceptual framework based on communication research, technical considerations, and the surveyed approaches. The framework describes the systems' properties, capabilities, and composition through a wide range of criteria organized in the dimensions (1) Data, (2) Processing and Models, (3) Visual Interface, and (4) Knowledge Generation. These criteria enable a formalization of digital communication analysis through visual analytics, which, we argue, is uniquely suited for this task by tackling automation complexity while leveraging domain knowledge. With our framework, we identify shortcomings and research challenges, such as group communication dynamics, trust and privacy considerations, and holistic approaches. Simultaneously, our framework supports the evaluation of systems and promotes the mutual exchange between researchers through a structured common language, laying the foundations for future research on communication analysis.
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference
Venue: arXiv cs.RO 2022
Year: 2022

This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metric-semantic maps to provide even richer environmental information for robots in a single mapping formalism while exploiting intralayer and interlayer correlations. It removes the need for a robot to access and process information from many separate maps when performing a complex task, advancing the way robots interact with their environments. To this end, we design a multitask deep neural network with attention mechanisms as our front-end to provide heterogeneous observations for multiple map layers simultaneously. Our back-end runs a scalable closed-form Bayesian inference with only logarithmic time complexity. We apply the framework to build a dense robotic map including metric-semantic occupancy and traversability layers. Traversability ground truth labels are automatically generated from exteroceptive sensory data in a self-supervised manner. We present extensive experimental results on publicly available datasets and data collected by a 3D bipedal robot platform and show reliable mapping performance in different environments. Finally, we also discuss how the current framework can be extended to incorporate more information such as friction, signal strength, temperature, and physical quantity concentration using Gaussian map layers. The software for reproducing the presented results or running on customized data is made publicly available.
Small random initialization is akin to spectral learning: Optimization and generalization guarantees for overparameterized low-rank matrix reconstruction
Venue: arXiv cs.LG 2022
Year: 2022

Recently there has been significant theoretical progress on understanding the convergence and generalization of gradient-based methods on nonconvex losses with overparameterized models. Nevertheless, many aspects of optimization and generalization and in particular the critical role of small random initialization are not fully understood. In this paper, we take a step towards demystifying this role by proving that small random initialization followed by a few iterations of gradient descent behaves akin to popular spectral methods. We also show that this implicit spectral bias from small random initialization, which is provably more prominent for overparameterized models, also puts the gradient descent iterations on a particular trajectory towards solutions that are not only globally optimal but also generalize well. Concretely, we focus on the problem of reconstructing a low-rank matrix from a few measurements via a natural nonconvex formulation. In this setting, we show that the trajectory of the gradient descent iterations from small random initialization can be approximately decomposed into three phases: (I) a spectral or alignment phase where we show that that the iterates have an implicit spectral bias akin to spectral initialization allowing us to show that at the end of this phase the column space of the iterates and the underlying low-rank matrix are sufficiently aligned, (II) a saddle avoidance/refinement phase where we show that the trajectory of the gradient iterates moves away from certain degenerate saddle points, and (III) a local refinement phase where we show that after avoiding the saddles the iterates converge quickly to the underlying low-rank matrix. Underlying our analysis are insights for the analysis of overparameterized nonconvex optimization schemes that may have implications for computational problems beyond low-rank reconstruction.
Disturbance of questionable publishing to academia
Venue: arXiv cs.DL 2022
Year: 2022

Questionable publications have been accused of "greedy" practices; however, their influence on academia has not been gauged. Here, we probe the impact of questionable publications through a systematic and comprehensive analysis with various participants from academia and compare the results with those of their unaccused counterparts using billions of citation records, including liaisons, i.e., journals and publishers, and prosumers, i.e., authors. Questionable publications attribute publisher-level self-citations to their journals while limiting journal-level self-citations; yet, conventional journal-level metrics are unable to detect these publisher-level self-citations. We propose a hybrid journal-publisher metric for detecting self-favouring citations among QJs from publishers. Additionally, we demonstrate that the questionable publications were less disruptive and influential than their counterparts. Our findings indicate an inflated citation impact of suspicious academic publishers. The findings provide a basis for actionable policy-making against questionable publications.
Exploring the Efficacy of Automatically Generated Counterfactuals for Sentiment Analysis
Venue: arXiv cs.CL 2022
Year: 2022

While state-of-the-art NLP models have been achieving the excellent performance of a wide range of tasks in recent years, important questions are being raised about their robustness and their underlying sensitivity to systematic biases that may exist in their training and test data. Such issues come to be manifest in performance problems when faced with out-of-distribution data in the field. One recent solution has been to use counterfactually augmented datasets in order to reduce any reliance on spurious patterns that may exist in the original data. Producing high-quality augmented data can be costly and time-consuming as it usually needs to involve human feedback and crowdsourcing efforts. In this work, we propose an alternative by describing and evaluating an approach to automatically generating counterfactual data for data augmentation and explanation. A comprehensive evaluation on several different datasets and using a variety of state-of-the-art benchmarks demonstrate how our approach can achieve significant improvements in model performance when compared to models training on the original data and even when compared to models trained with the benefit of human-generated augmented data.
The Values Encoded in Machine Learning Research
Venue: arXiv cs.LG 2022
Year: 2022

Machine learning currently exerts an outsized influence on the world, increasingly affecting institutional practices and impacted communities. It is therefore critical that we question vague conceptions of the field as value-neutral or universally beneficial, and investigate what specific values the field is advancing. In this paper, we first introduce a method and annotation scheme for studying the values encoded in documents such as research papers. Applying the scheme, we analyze 100 highly cited machine learning papers published at premier machine learning conferences, ICML and NeurIPS. We annotate key features of papers which reveal their values: their justification for their choice of project, which attributes of their project they uplift, their consideration of potential negative consequences, and their institutional affiliations and funding sources. We find that few of the papers justify how their project connects to a societal need (15\%) and far fewer discuss negative potential (1\%). Through line-by-line content analysis, we identify 59 values that are uplifted in ML research, and, of these, we find that the papers most frequently justify and assess themselves based on Performance, Generalization, Quantitative evidence, Efficiency, Building on past work, and Novelty. We present extensive textual evidence and identify key themes in the definitions and operationalization of these values. Notably, we find systematic textual evidence that these top values are being defined and applied with assumptions and implications generally supporting the centralization of power.Finally, we find increasingly close ties between these highly cited papers and tech companies and elite universities.
The penumbra of open source: projects outside of centralized platforms are longer maintained, more academic and more collaborative
Venue: arXiv cs.CY 2022
Year: 2022

GitHub has become the central online platform for much of open source, hosting most open source code repositories. With this popularity, the public digital traces of GitHub are now a valuable means to study teamwork and collaboration. In many ways, however, GitHub is a convenience sample, and may not be representative of open source development off the platform. Here we develop a novel, extensive sample of public open source project repositories outside of centralized platforms. We characterized these projects along a number of dimensions, and compare to a time-matched sample of corresponding GitHub projects. Our sample projects tend to have more collaborators, are maintained for longer periods, and tend to be more focused on academic and scientific problems.
Distributionally Robust Learning with Stable Adversarial Training
Venue: arXiv cs.LG 2022
Year: 2022

Machine learning algorithms with empirical risk minimization are vulnerable under distributional shifts due to the greedy adoption of all the correlations found in training data. There is an emerging literature on tackling this problem by minimizing the worst-case risk over an uncertainty set. However, existing methods mostly construct ambiguity sets by treating all variables equally regardless of the stability of their correlations with the target, resulting in the overwhelmingly-large uncertainty set and low confidence of the learner. In this paper, we propose a novel Stable Adversarial Learning (SAL) algorithm that leverages heterogeneous data sources to construct a more practical uncertainty set and conduct differentiated robustness optimization, where covariates are differentiated according to the stability of their correlations with the target. We theoretically show that our method is tractable for stochastic gradient-based optimization and provide the performance guarantees for our method. Empirical studies on both simulation and real datasets validate the effectiveness of our method in terms of uniformly good performance across unknown distributional shifts.